THEKERNEL->step_ticker->register_acceleration_tick_handler([this]() {acceleration_tick(); });
// Settings
- this->on_config_reload(this);
+ this->load_config();
}
// Get config
-void Endstops::on_config_reload(void *argument)
+void Endstops::load_config()
{
this->pins[0].from_string( THEKERNEL->config->value(alpha_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
this->pins[1].from_string( THEKERNEL->config->value(beta_min_endstop_checksum )->by_default("nc" )->as_string())->as_input();
char gcode_buf[64];
append_parameters(gcode_buf, params, sizeof(gcode_buf));
Gcode gc(gcode_buf, &(StreamOutput::NullStream));
- bool oldmode = THEKERNEL->robot->absolute_mode;
+ THEKERNEL->robot->push_state();
THEKERNEL->robot->absolute_mode = false; // needs to be relative mode
THEKERNEL->robot->on_gcode_received(&gc); // send to robot directly
- THEKERNEL->robot->absolute_mode = oldmode; // restore mode
// Wait for above to finish
THEKERNEL->conveyor->wait_for_empty_queue();
+ THEKERNEL->robot->pop_state();
}
this->status = NOT_HOMING;
float rate = std::min(this->fast_rates[0], this->fast_rates[1]) * 60.0F;
char buf[32];
snprintf(buf, sizeof(buf), "G53 G0 X0 Y0 F%1.4f", rate); // must use machine coordinates in case G92 or WCS is in effect
+ THEKERNEL->robot->push_state();
struct SerialMessage message;
message.message = buf;
message.stream = &(StreamOutput::NullStream);
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); // as it is a multi G code command
// Wait for above to finish
THEKERNEL->conveyor->wait_for_empty_queue();
+ THEKERNEL->robot->pop_state();
this->status = NOT_HOMING;
}
return;
} else if(gcode->subcode == 4) { // G28.4 is a smoothie special it sets manual homing based on the actuator position (used for rotary delta)
- // do a manual homing based on given coordinates, no endstops required
- float a = NAN, b = NAN, c = NAN;
- if(gcode->has_letter('A')) a = gcode->get_value('A');
- if(gcode->has_letter('B')) b = gcode->get_value('B');
- if(gcode->has_letter('C')) c = gcode->get_value('C');
- THEKERNEL->robot->reset_actuator_position(a, b, c);
+ // do a manual homing based on given coordinates, no endstops required, NOTE does not support the multi actuator hack
+ ActuatorCoordinates ac;
+ if(gcode->has_letter('A')) ac[0] = gcode->get_value('A');
+ if(gcode->has_letter('B')) ac[1] = gcode->get_value('B');
+ if(gcode->has_letter('C')) ac[2] = gcode->get_value('C');
+ THEKERNEL->robot->reset_actuator_position(ac);
return;
} else if(THEKERNEL->is_grbl_mode()) {
// without endstop trim, real_position == ideal_position
if(is_rdelta) {
// with a rotary delta we set the actuators angle then use the FK to calculate the resulting cartesian coordinates
- THEKERNEL->robot->reset_actuator_position(ideal_position[0], ideal_position[1], ideal_position[2]);
+ ActuatorCoordinates real_actuator_position = {ideal_position[0], ideal_position[1], ideal_position[2]};
+ THEKERNEL->robot->reset_actuator_position(real_actuator_position);
} else {
// Reset the actuator positions to correspond our real position
}
}
+void Endstops::set_homing_offset(Gcode *gcode)
+{
+ // Similar to M206 and G92 but sets Homing offsets based on current position
+ float cartesian[3];
+ THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot
+ if (gcode->has_letter('X')) {
+ home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
+ }
+ if (gcode->has_letter('Y')) {
+ home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
+ }
+ if (gcode->has_letter('Z')) {
+ home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
+ THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
+ }
+
+ gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+}
+
// Start homing sequences by response to GCode commands
void Endstops::on_gcode_received(void *argument)
{
if ( gcode->has_g && gcode->g == 28) {
process_home_command(gcode);
- }else if (gcode->has_m) {
+ } else if (gcode->has_m) {
switch (gcode->m) {
case 119: {
break;
case 206: // M206 - set homing offset
- if(!is_rdelta) {
- if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
- if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
- if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
- gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+ if(is_rdelta) return; // RotaryDeltaCalibration module will handle this
- } else {
- // set theta offset
- if (gcode->has_letter('A')) home_offset[0] = gcode->get_value('A');
- if (gcode->has_letter('B')) home_offset[1] = gcode->get_value('B');
- if (gcode->has_letter('C')) home_offset[2] = gcode->get_value('C');
- gcode->stream->printf("Theta offset A %8.5f B %8.5f C %8.5f\n", home_offset[0], home_offset[1], home_offset[2]);
- }
+ if (gcode->has_letter('X')) home_offset[0] = gcode->get_value('X');
+ if (gcode->has_letter('Y')) home_offset[1] = gcode->get_value('Y');
+ if (gcode->has_letter('Z')) home_offset[2] = gcode->get_value('Z');
+ gcode->stream->printf("X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
break;
- case 306:
- if(!is_rdelta) { // Similar to M206 and G92 but sets Homing offsets based on current position
- float cartesian[3];
- THEKERNEL->robot->get_axis_position(cartesian); // get actual position from robot
- if (gcode->has_letter('X')) {
- home_offset[0] -= (cartesian[X_AXIS] - gcode->get_value('X'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('X'), X_AXIS);
- }
- if (gcode->has_letter('Y')) {
- home_offset[1] -= (cartesian[Y_AXIS] - gcode->get_value('Y'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Y'), Y_AXIS);
- }
- if (gcode->has_letter('Z')) {
- home_offset[2] -= (cartesian[Z_AXIS] - gcode->get_value('Z'));
- THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS);
- }
-
- gcode->stream->printf("Homing Offset: X %5.3f Y %5.3f Z %5.3f\n", home_offset[0], home_offset[1], home_offset[2]);
+ case 306: // set homing offset based on current position
+ if(is_rdelta) return; // RotaryDeltaCalibration module will handle this
- } else {
- // for a rotary delta M306 calibrates the homing angle
- // by doing M306 A-56.17 it will calculate the M206 A value (the theta offset for actuator A) based on the difference
- // between what it thinks is the current angle and what the current angle actually is specified by A (ditto for B and C)
-
- // get the current angle for each actuator
- ActuatorCoordinates current_angle{
- THEKERNEL->robot->actuators[X_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(),
- THEKERNEL->robot->actuators[Z_AXIS]->get_current_position()
- };
-
- //figure out what home_offset needs to be to correct the homing_position
- if (gcode->has_letter('A')) {
- float a = gcode->get_value('A'); // what actual angle is
- home_offset[0] = (a - current_angle[0]);
- THEKERNEL->robot->reset_actuator_position(a, NAN, NAN);
- }
- if (gcode->has_letter('B')) {
- float b = gcode->get_value('B');
- home_offset[1] = (b - current_angle[1]);
- THEKERNEL->robot->reset_actuator_position(NAN, b, NAN);
- }
- if (gcode->has_letter('C')) {
- float c = gcode->get_value('C');
- home_offset[2] = (c - current_angle[2]);
- THEKERNEL->robot->reset_actuator_position(NAN, NAN, c);
- }
-
- gcode->stream->printf("Theta Offset: A %8.5f B %8.5f C %8.5f\n", home_offset[0], home_offset[1], home_offset[2]);
- }
+ set_homing_offset(gcode);
break;
case 500: // save settings
case 1910: {
// M1910.0 - move specific number of raw steps
// M1910.1 - stop any moves
- // M1910.2 - move specific number of actuator coordinates (usually mm but is degrees for a rotary delta)
+ // M1910.2 - move specific number of actuator units (usually mm but is degrees for a rotary delta)
if(gcode->subcode == 0 || gcode->subcode == 2) {
// Enable the motors
THEKERNEL->stepper->turn_enable_pins_on();
HCoop / clinton / Smoothieware.git / blobdiff